Engineers face significant challenges in developing cyber-physical systems (CPS) due to their heterogeneous nature, i.e. the need for knowledge and skills from a wide range of academic and industrial disciplines, the integration of the artifacts of these disciplines and fields, and the difficulty of maintaining such heterogeneous artifacts should be taken into account. The development of CPS mostly needs a unified methodology that permits efficient raise of the abstraction level to overcome issues of heterogeneity induced by the multidisciplinary nature of the system. Model-driven engineering (MDE) is believed to be an alternative solution to overcome the challenges faced while developing CPS. This paper presents a systematic mapping study on using the MDE paradigm in CPS development and management. 140 research papers published during the period 2010–2018 are evaluated. The study mainly enables to find out the followed approaches when applying MDE for CPS, addressed CPS challenges, application domains and presented case studies. Results showed that the number of publications in this field is continuously increasing in recent years. Results also showed that metamodeling and model-based approaches are mostly adopted by the researchers affiliated to Europe, while DSL-based approach is adopted mostly by USA affiliated researchers. Only 45% of the studies consider a specific CPS application domain in which Smart Manufacturing is the most addressed domain followed by Critical Infrastructure, Health Care and Medicine. Moreover, the majority of the studies present case studies as the main evaluation method for the proposed MDE solutions. Conducting empirical evaluations is mostly missing. The results also revealed that various CPS challenges are addressed, and the most addressed ones are the complexity and interoperability aspects of CPS. Reporting on what previous researches have accomplished, as well as current research efforts and open challenges related to this field can guide researchers and developers in their further work on CPS design and implementation.

工程师由于其异质性而在开发网络物理系统（CPS）时面临着巨大的挑战，即对来自广泛的学术和工业学科的知识和技能的需求，这些学科和领域的工件的集成以及难度应该考虑维护此类异质工件的方法。CPS的开发主要需要一种统一的方法，该方法可以有效提高抽象级别，以克服由系统的多学科性质引起的异构性问题。模型驱动工程（MDE）被认为是克服开发CPS时面临的挑战的替代解决方案。本文提出了在CPS开发和管理中使用MDE范式的系统映射研究。对2010-2018年期间发表的140篇研究论文进行了评估。该研究主要能够找出在将MDE用于CPS时要遵循的方法，解决CPS的挑战，应用领域并提供案例研究。结果表明，近年来该领域的出版物数量不断增加。结果还表明，隶属于欧洲的研究人员大多采用元建模和基于模型的方法，而美国的附属研究人员则大多采用基于DSL的方法。只有45％的研究考虑了特定的CPS应用领域，其中智能制造是最受关注的领域，其次是关键基础设施，医疗保健和医学。此外，大多数研究都以案例研究作为对提出的MDE解决方案的主要评估方法。进行实证评估的机会大为缺失。结果还显示，解决了各种CPS挑战，而最需要解决的挑战是CPS的复杂性和互操作性。报告以前的研究成果，以及与该领域有关的当前研究成果和开放挑战，可以指导研究人员和开发人员进一步开展CPS设计和实施工作。